Positioning method and apparatus, and device and storage medium

Abstract

Provided in the embodiments of the present application are a positioning method and apparatus, and a device and a storage medium. The method comprises: a user equipment transmitting a positioning signal on an ARP in at least one ARP group, wherein the user equipment corresponds to at least two ARP groups, each ARP group comprises at least one ARP, and positioning signals on ARPs in different ARP groups each respectively determine the position of the user equipment.

Description

Positioning method, device, equipment and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese Patent Application No. 202310900180.8 filed on July 20, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The embodiments of the present application relate to the field of communication technologies, and in particular to a positioning method, apparatus, device, and storage medium. Background Art

[0004] In the New Radio (NR) system, NR positioning is introduced. NR positioning locates the user equipment based on the Positioning Reference Signal (PRS).

[0005] In some scenarios, multiple associated devices can be regarded as one terminal. For example, in the Extended Reality (XR) scenario, the head-mounted device and the handle are regarded as one terminal, or, in the Internet of Things devices, the mobile phone and the wearable device connected to the mobile phone are regarded as one terminal. The NR positioning method in the related technology cannot distinguish the positions of multiple associated devices regarded as one terminal, for example, it cannot distinguish the positions of the head-mounted device and the handle.

[0006] Summary of the Invention

[0007] Embodiments of the present application provide a positioning method, apparatus, device, and storage medium, which can respectively locate the positions of multiple devices included in a user equipment.

[0008] In a first aspect, an embodiment of the present application provides a positioning method, the method comprising: a user device transmitting a positioning signal on at least one antenna reference point (ARP) within an ARP group, the user device corresponding to at least two ARP groups, each ARP group including at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determining the position of the user device.

[0009] In a second aspect, an embodiment of the present application provides a positioning method, the method comprising: receiving information of at least one ARP group sent by a user device, the user device corresponding to at least two ARP groups, each ARP group including at least one ARP, and positioning signals on the ARPs in different ARP groups respectively determining the position of the user device; obtaining the position information of the ARPs in the ARP groups; and determining the position of the user device based on the position information of the ARPs in the ARP groups.

[0010] In a third aspect, an embodiment of the present application provides a positioning device, which includes: a transmission module for transmitting a positioning signal on an ARP within at least one ARP group of a user device, wherein the user device corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user device.

[0011] In a fourth aspect, an embodiment of the present application provides a positioning device, which includes: a receiving module for receiving information of at least one antenna reference point ARP group sent by a user device, the user device corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user device; an acquisition module for acquiring the position information of the ARPs in the ARP group based on the information of the ARP group; and a first determination module for determining the position of the user device based on the position information of the ARPs in the ARP group.

[0012] In a fifth aspect, an embodiment of the present application provides a user device comprising: a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method provided in the first aspect above.

[0013] In a sixth aspect, an embodiment of the present application provides a positioning device, comprising: a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method provided in the second aspect above.

[0014] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program enables a computer to execute the method provided in the first or second aspect above.

[0015] In an eighth aspect, an embodiment of the present application provides a chip, comprising a processor, wherein the processor is configured to call and run a computer program from a memory so that the chip executes the method provided in the first or second aspect above.

[0016] In a ninth aspect, an embodiment of the present application provides a communication system, comprising a user device and a positioning device, wherein the user device and the positioning device communicate with each other to implement the method provided in the first or second aspect above.

[0017] The positioning method, apparatus, device, and storage medium provided by embodiments of the present application include: a user device transmitting a positioning signal on an ARP within at least one ARP group, wherein the user device corresponds to at least two ARP groups, each ARP group including at least one ARP, and the positioning signals on the ARPs within different ARP groups respectively determine the position of the user device. The user device or positioning device can determine the position of the user device corresponding to each ARP group based on the positioning signal on the ARP within the ARP group. When the user device includes multiple devices, an ARP group can be associated with each device, so that the positions of the multiple devices included in the user device can be respectively located based on the ARP groups. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] FIG1 is a schematic diagram of an architecture of a communication system to which this application is applicable;

[0020] FIG2 is a flowchart of a positioning method provided in Example 1 of the present application;

[0021] FIG3 is a schematic diagram showing the distribution of an ARP group of a user device;

[0022] FIG4 is a flowchart of a positioning method provided in Example 2 of the present application;

[0023] FIG5 is a flowchart of a positioning method provided in Example 3 of the present application;

[0024] FIG6 is a flowchart of a positioning method provided in Example 4 of the present application;

[0025] FIG7 is a flowchart of a positioning method provided in Example 5 of the present application;

[0026] FIG8 is a flowchart of a positioning method provided in Example 6 of the present application;

[0027] FIG9 is a flowchart of a positioning method provided in Example 7 of the present application;

[0028] FIG10 is a flowchart of a positioning method provided in Example 8 of the present application;

[0029] FIG11 is a signaling flow chart of a positioning method provided in Example 9 of the present application;

[0030] FIG12 is a signaling flow chart of a positioning method provided in Example 10 of the present application;

[0031] FIG13 is a signaling flow chart of a positioning method provided in Example 11 of the present application;

[0032] FIG14 is a schematic structural diagram of a positioning device provided in Example 12 of the present application;

[0033] FIG15 is a schematic structural diagram of a positioning device provided in Example 13 of the present application;

[0034] Figure 16 is a structural diagram of a user device provided in Example 14 of the present application. DETAILED DESCRIPTION

[0035] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0037] The positioning method provided in the embodiments of the present application can be applied in an existing communication system, including but not limited to a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) system, a general packet radio service (GPRS), a long term evolution (LTE) system, an advanced long term evolution (LTE-A) system, a new wireless (NR) system, a next generation communication system or other communication systems. In the embodiments of the present application, the terms "system" and "network" are often used interchangeably.

[0038] FIG1 is a schematic diagram of the architecture of a communication system applicable to the present application. As shown in FIG1 , the communication system includes a user device 110, a user device 120, a user device 130, and a positioning device 140. The positioning device 140 and the user devices 110, 120, and 130 can communicate with each other via wired or wireless means. It will be understood that FIG1 is merely an example, and the communication system may further include more or fewer user devices, and may further include other network devices, such as access network devices, base stations, and the like.

[0039] User equipment (UE) can also be called a terminal or terminal device. The user equipment can be a mobile phone (user equipment 110), a laptop computer (laptop computer) or a notebook computer (user equipment 120), an extended reality (XR) device (user equipment 130) shown in Figure 1, or a terminal-side device such as a tablet personal computer (Tablet Personal Computer), a personal digital assistant (PDA), a handheld computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (Mobile Internet Device, MID), a wearable device (Wearable Device) or a vehicle user equipment (VUE), or a pedestrian user equipment (Pedestrian User Equipment, PUE). Wearable devices include: wristbands, headphones, glasses, etc. It should be noted that the specific type of user equipment is not limited in the embodiments of the present application.

[0040] Positioning device 140 is used to locate or assist user equipment in locating the user equipment, and can also store and manage the positioning results of the user equipment. Positioning device 140 includes, but is not limited to, a location server, a location service terminal (UE), a base station, an anchor terminal (UE), or other types of network devices and other types of terminals.

[0041] Taking the NR system as an example, the location server can be a positioning management function (LMF) network element in the NR system. The LMF network element is used to perform positioning calculations on the user equipment based on the measurement results of other network elements.

[0042] The positioning of the user equipment involved in the embodiments of the present application refers to positioning the user equipment in a communication system. Positioning the user equipment in a communication system generally refers to positioning the user equipment using a positioning reference signal (PRS) in the communication system or a sidelink positioning reference signal (sidelink PRS). Of course, the positioning reference signal in the present application may also be other reference signals used for positioning, including but not limited to a sounding reference signal (SRS), a demodulation reference signal (DMRS), a channel state information reference signal (CSI-RS), a phase tracking reference signal (PTRS), a tracking reference signal (TRS), a sidelink demodulation reference signal SL-DMRS, a sidelink channel state reference signal SL-CSI-RS, a sidelink phase tracking reference signal SL PTRS, and a sidelink tracking reference signal SL TRS.

[0043] Taking NR system positioning as an example, according to the transmission direction of the positioning reference signal, NR positioning technology is divided into: uplink (UL), downlink (DL) and uplink / downlink positioning technology. Among them, downlink positioning technology realizes positioning based on the user equipment's measurement of the downlink positioning reference signal, uplink positioning realizes positioning based on the base station's measurement of the positioning reference signal, and uplink / downlink positioning needs to realize positioning based on the uplink and downlink positioning reference signals. The subsequent evolution of NR positioning also considers sidelink positioning, which can ultimately determine the absolute position, relative position or ranging of the target terminal and the anchor terminal through the transmission of the SL positioning reference signal between the target terminal and the anchor terminal.

[0044] According to the participation of user equipment and the network side, NR positioning technology can be divided into: UE autonomous (UE-based) positioning, UE assisted (UE-assisted) positioning and network (NW-based) positioning. Among them, UE-based means that the UE calculates the UE position, such as the UE measures the downlink positioning reference signal and calculates the UE position. UE-assisted refers to UE assisted positioning, such as the UE is responsible for measuring the downlink positioning reference signal, reporting the measurement results to the LMF network element, and the LMF network element calculates the UE position. NW-based means that the UE position is calculated by the network equipment, such as the UE only sends the uplink positioning reference signal, which is measured by the base station, and the LMF network element calculates the UE position based on the base station measurement results.

[0045] When positioning user devices, the positioning of XR devices is different from that of other types of user devices due to the particularity of their own implementation form.

[0046] Among them, XR devices include but are not limited to virtual reality (VR) devices, augmented reality (AR) devices and mixed reality (MR) devices.

[0047] XR devices usually include a head-mounted display (HMD) and at least one auxiliary device. The head-mounted display is a device that provides virtual reality effects to users. It can take the form of glasses, helmet-mounted displays, contact lenses, etc. to achieve visual perception and other forms of perception.

[0048] XR devices' auxiliary equipment includes a handle (also known as a controller or handheld device) and / or body trackers worn on different parts of the body. The handle is typically used to control the XR device, and the body tracker is used to track motion data of different body parts. There can be one or more body trackers, which can be worn on the user's wrist, calf, thigh, waist, etc. The body trackers worn on different body parts are used to track motion data of different body parts.

[0049] As shown in Figure 1, the XR device includes a head-mounted device and a handle, and the head-mounted device and the handle communicate via Bluetooth or other short-range communication technologies (such as Sidelink).

[0050] In related technologies, when determining the location of an XR device, the head-mounted device and at least one auxiliary device included in the XR device are considered to be the same terminal. Considering multiple devices included in the XR device as the same terminal means assigning a terminal identifier (such as a UE ID) to the XR device. During positioning, the UE ID corresponds to a single location information, and the locations of the multiple devices included in the XR device cannot be distinguished. However, in the actual use scenarios of XR devices, it is often necessary to distinguish the locations of the multiple devices included in the XR device.

[0051] In addition, the positioning of XR devices includes not only position tracking, but also rotation angle tracking. Therefore, the positioning of XR devices is also called 6 degrees of freedom (6DOF) positioning. It is necessary not only to detect the free movement of the XR device in three directions (such as the X-axis, Y-axis, and Z-axis) (such as up and down, left and right, and front and back translation) but also to detect the rotation of the XR device in three directions (around the X-axis, around the Y-axis, and around the Z-axis). Therefore, XR devices with 6DOF positioning can allow users to move and rotate freely in the virtual world as in the real world, enhancing the user's sense of immersion and reality, and making the virtual world more realistic.

[0052] Tracking the translation of an XR device in three directions is called position tracking, while tracking the rotation angle of an XR device in three directions is called posture tracking. Related communication systems can only track the position of an XR device, not its rotation angle (or posture).

[0053] In summary, there are two problems with the positioning of XR devices in the communication system: Problem 1: It is impossible to distinguish the positions of multiple devices included in the XR device; Problem 2: It is impossible to track the rotation angle of the XR device.

[0054] The above uses XR devices as an example to illustrate the problems existing in the positioning of user devices. It is understandable that the above technical problems may also exist in other devices.

[0055] For example, in response to question 1, in the Internet of Things (IoT) scenario, IoT devices are connected to the network through mobile phones. These IoT devices include wearable devices (such as headphones, watches, health monitors, etc.) and / or smart home appliances (such as refrigerators, smart speakers, desk lamps, cameras, air conditioners, etc.). In this case, the mobile phone and IoT device can be regarded as a user device, which is composed of multiple separate devices. When locating this user device, it is necessary to distinguish the locations of the mobile phone and IoT devices.

[0056] Regarding the second question, with the diversity of user device application scenarios, other devices besides XR devices may also have the need for 6DOF positioning. For example, mobile phones, tablets or smart wearable devices also need 6DOF positioning.

[0057] In summary, the communication system positioning in the related art has the following two problems when positioning user equipment: Problem 1: When the user equipment includes multiple devices, it is impossible to distinguish the positions of the multiple devices included in the user equipment; Problem 2: It is impossible to track the rotation angle of the user equipment. To solve the problems of the related art, the embodiments of the present application provide a positioning method that can distinguish the positions of the multiple devices included in the user equipment and can track the rotation angle of the user equipment.

[0058] The positioning method provided by the embodiments of the present application is described in detail below with reference to the accompanying drawings through some embodiments and their application scenarios. The following embodiments can be combined with each other, and the same or similar concepts and processes may not be repeated in some embodiments.

[0059] Example 1

[0060] FIG2 is a flow chart of a positioning method provided in Example 1 of the present application, which is applied to a user equipment. As shown in FIG2 , the method provided in this embodiment includes the following steps.

[0061] S101. Transmit a positioning signal on an ARP in at least one ARP group. A user equipment corresponds to at least two ARP groups. Each ARP group includes at least one ARP. Positioning signals on ARPs in different ARP groups respectively determine the location of the user equipment.

[0062] In this embodiment, the user device includes at least two devices, which are separate and can move simultaneously. During the movement, the absolute positions of the at least two devices are constantly changing, and the relative positions may also be constantly changing. It is necessary to track the positions of the multiple devices included in the user device separately.

[0063] To enable separate location tracking of at least two devices included in a user device, at least two antenna reference point (ARP) groups are configured on the user device, each ARP group including at least one ARP. At least one ARP group can be configured for each device included in the user device, and different ARP groups are used to distinguish different devices in the user device. Because the network side treats the multiple devices included in the user device as a single user device, distinguishing different devices in the user device using different ARP groups can also be understood as distinguishing different locations of the user device using different ARP groups.

[0064] ARP can also be described as antenna position or other names. ARP is used to receive and / or send positioning signals. The positioning signals are physical signals and / or channels used to track the location of user equipment, including but not limited to at least one of the following:

[0065] Positioning reference signal (PRS)

[0066] Sidelink Position Reference Signal (SL PRS)

[0067] Sounding reference signal (SRS)

[0068] Synchronization signal and PBCH block (SSB)

[0069] Channel State Information Reference Signal (CSI-RS)

[0070] Sidelink CSI-RS (SL CSI-RS)

[0071] Physical side link control channel (PSCCH)

[0072] Physical side link shared channel (PSSCH)

[0073] Physical downlink shared channel (PDSCH)

[0074] Physical uplink shared channel (PUSCH), etc.

[0075] Figure 3 shows the distribution of an ARP group for a user device. As shown in Figure 3, the user device is an XR device, which includes a headset and a controller. The headset is equipped with four ARPs: ARPs 1, 2, 3, and 4, and the controller is equipped with two ARPs: ARPs 5 and 6. The four ARPs on the headset are divided into ARP group 1, and the two ARPs on the controller are divided into ARP group 2. The positioning signals of the ARPs in ARP group 1 are used to determine the location of the headset, while the ARPs in ARP group 2 are used to determine the location of the controller. After time T, the controller moves from position L1 to position L2.

[0076] Since the network side considers the XR device to be a user device, the network side cannot distinguish the positions of the head-mounted device and the handle through the UEID. In this embodiment, the network side and the user device can distinguish the positions of the head-mounted device and the handle based on the ARP group of the XR device. ARP group 1 and ARP group 2 are respectively associated with or correspond to a position of the XR device. For example, ARP group 1 is associated with the position of the head-mounted device, and ARP group 2 is associated with the position of the handle.

[0077] Although a user device corresponds to at least two ARP groups, at any time or within a certain time period, the user device can transmit positioning signals on the ARPs in at least one ARP group. This means that the user device can transmit positioning signals on all or some ARP groups, such as the ARPs in the ARP group corresponding to the device to be located. ARP groups that do not transmit positioning signals cannot be used to determine the user device's location.

[0078] Transmitting the positioning signal on the ARP in the ARP group includes: sending and / or receiving the positioning signal on the ARP in the ARP group.

[0079] Each ARP group has an ARP group identity (ID), and the ARP group ID can uniquely identify (recognize or distinguish) an ARP group of a user device.

[0080] Each ARP in an ARP group has an identifier, called an ARP ID. Each ARP can be identified (recognized or distinguished) by at least one of the ARP ID and the ARP group ID.

[0081] Optionally, the ARP ID includes a per-UE ID or a per-ARP group ID.

[0082] When an ARP is uniquely identified by an ARP ID, the ARP ID can uniquely distinguish an ARP in a user equipment (also referred to as the ARP ID being a per-UE ID), and the ARPs included in each ARP group have different ARP IDs.

[0083] When ARP is uniquely identified by an ARP ID and an ARP group ID, the ARP ID is the ID within the ARP group (also known as the ARP ID is the ID per ARP group). The ARP ID can only uniquely distinguish an ARP within the ARP group, but cannot uniquely distinguish an ARP within the user device. Therefore, the ARP IDs of the ARPs in different ARP groups may be the same. For example, a user device has two ARP groups: ARP group 1 and ARP group 2. The ARP IDs of the two ARPs in ARP group 1 are ARP ID1 and ARP ID2, and the ARPIDs of the two ARPs in ARP group 2 are also ARP ID1 and ARP ID2. If the user device only sends ARP ID1 and ARP ID2 to the positioning device, the positioning device cannot distinguish whether the two ARPs are from ARP group 1 or ARP group 2. The positioning device needs to use the ARP group ID and ARP ID to distinguish the two ARPs.

[0084] The ARPs in an ARP group correspond to a local coordinate system (LCS), and / or the relative positions of the ARPs in the LCS of the ARP group are fixed (or the relative positions of the ARPs in the ARP group are fixed).

[0085] The LCS of the ARP group is established based on the relative positions of the ARPs in the ARP group. Optionally, the LCS of the ARP group satisfies at least one of the following conditions or is established in at least one of the following ways: the origin of the LCS of the ARP group is the position of any ARP included in the ARP group; the LCS of the ARP group uses the plane formed by any three ARPs included in the ARP group as one of the coordinate planes (one of the XOY, XOZ, and YOZ planes); the LCS of the ARP group uses the vertical direction of the plane formed by any three ARPs included in the ARP group as one of the coordinate axes (one of the X axis, Y axis, and Z axis).

[0086] The LCS of an ARP group can be established using any of the above methods. For example, in Figure 3, where the four ARPs on the headset are grouped together, one exemplary method establishes the LCS of the ARP group with ARP1 as the origin and the plane formed by ARPs 1, 2, and 3 as the XOY plane. In another exemplary method, the LCS of the ARP group is established with ARP as the origin and the perpendicular direction of the plane formed by ARPs 1, 2, and 3 as the X-axis, with the plane formed by ARPs 1, 2, and 3 as the YOZ plane.

[0087] Optionally, the ARP used to determine the LCS in the ARP packet is determined by at least one of the following methods: a protocol agreement, a network indication, or a terminal determination. The ARP used to determine the LCS includes at least one of the following: an ARP used to determine the LCS origin, an ARP used to determine the LCS coordinate plane, and an ARP used to determine the LCS coordinate axis.

[0088] Optionally, the relative position of the ARP in the ARP group may be relative to a reference point. Optionally, the reference point may be an origin in the LCS, a specific location in the LCS, a location of an ARP, a location selected by the UE, or a specified location (such as a network-specified location or another terminal-specified location).

[0089] In this application, if the number of ARP groups of a user equipment is 1, then 1 ARP group can correspond to 1 user equipment. At least 1 ARP in an ARP group has the same meaning as at least 1 ARP of 1 UE.

[0090] In this embodiment, both the positioning device and the user device need to know the association between ARP groups and ARPs, such as which ARPs are included in the ARP group, or which ARP group the ARP belongs to. When the user device has multiple ARPs, optionally, all or some of the ARPs on the user device are associated with an ARP group. For example, if the user device has eight ARPs and these eight ARPs are divided into two ARP groups, then all ARPs are associated with an ARP group. If six ARPs are selected from these eight ARPs and divided into two ARP groups, then the remaining two ARPs do not belong to any ARP group, or one of the remaining two ARPs is not grouped with any other ARPs. In other words, some ARPs on the user device are associated with an ARP group, while the remaining ARPs are not. For ARP groups that are not associated with an ARP group, the aforementioned assumption of the association between ARP groups and ARPs is not made.

[0091] The user device defines or configures this association, and needs to send the association between the ARP group and the ARP to the positioning device. In one implementation, the user device sends the ARP group information to the positioning device. The ARP group information includes at least one of the ARP group ID, the ARP ID within the ARP group, and the relative position information of the ARPs within the ARP group. The ARP ID within the ARP group refers to the ID of the ARPs included in the ARP group.

[0092] The information of the ARP group can also be called the configuration information of the ARP group. The user equipment or positioning device uses the positioning signal of the ARP in the ARP group to estimate the position based on the information of the ARP group, and obtains the position estimation result of each ARP in the ARP group. The position of the ARP group is determined based on the position estimation result of the ARP in the ARP group. The position of each ARP group is a position of the user equipment, and the positions of different ARP groups correspond to different positions of the user equipment.

[0093] Optionally, the user device can send the ARP group information to the positioning device in the following ways:

[0094] Method 1: The user equipment may send the ARP group information to the positioning device before starting positioning.

[0095] In the second method, the user equipment may send the information of the ARP group to the positioning device during the positioning process, for example, by sending the information to the positioning device in the ARP position estimation result carried in the ARP group.

[0096] The position estimation result of the ARP in the ARP group is estimated by the user equipment based on the positioning signal on the ARP in the ARP group.

[0097] Optionally, the user device can send the ARP group information to the positioning device in the following two information formats:

[0098] In format 1, the ARP group information is carried in the ARP group list. The ARP group list includes at least one ARP group information element (IE). Each ARP group IE includes the following fields: ARP group ID and ARP list. The ARP list includes at least one ARP IE. Each ARP IE includes the following fields: at least one of the ARP ID and the relative position information of the ARP.

[0099] For example, in this format, the IE of each ARP group can be expressed as {ARP group ID, ARP list}, and the IE of each ARP can be expressed as {ARP ID, ARP location}, where ARP location indicates the relative location information of the ARP, or the location of the ARP in the LCS of the ARP group.

[0100] Format 2: ARP group information is carried in an ARP list; the ARP list includes at least one ARP IE, and each ARP IE includes the following fields: at least one of the ARP ID, the relative position information of the ARP, and the ARP group ID.

[0101] For example, in this format, each ARP IE can be expressed as {ARP ID, ARP location, ARP group ID}.

[0102] In the method of this embodiment, a user device transmits a positioning signal on an ARP in at least one ARP group. The user device corresponds to at least two ARP groups, each of which includes at least one ARP. The positioning signals on the ARPs in different ARP groups respectively determine the location of the user device. The user device or a positioning device can determine the location of the user device corresponding to each ARP group based on the positioning signal on the ARP in each ARP group. When the user device includes multiple devices, an ARP group can be set (associated) for each device, so that the positions of multiple devices can be separately located based on the ARP groups.

[0103] Example 2

[0104] Based on Example 1, Example 2 of the present application provides a positioning method. The implementation methods described in Example 1 can be applied to Example 2 and can achieve the same technical effects. This embodiment is explained by taking the example of a user device including two devices, each of which is provided with an ARP group. That is, the user device includes two ARP groups, and the user device estimates the position of the ARP in the ARP group. Figure 4 is a flowchart of the positioning method provided in Example 2 of the present application. As shown in Figure 4, the method provided in this embodiment includes the following steps.

[0105] S201: User equipment receives positioning signals on ARPs in two ARP groups.

[0106] The positioning signal received by the user equipment is sent by the base station to which the user equipment accesses. The base station can send the positioning signal at one or more transmission and receiving points (TRPs).

[0107] S202: The user equipment estimates a position based on the positioning signal received on the ARP in each ARP group, and obtains a position estimation result for each ARP.

[0108] Optionally, the user equipment may use at least one of the following methods to estimate the location of the ARP: downlink-time difference of arrival (DL-TDOA), downlink-angle of departure (DL-AOD), multi-round trip time (Multi-RTT), downlink-angle of arrival (DL-AOA).

[0109] The position estimation result of each ARP includes but is not limited to: the position information of the ARP and at least one of the measurement result of the positioning signal of the ARP.

[0110] ARP location information is determined based on the ARP positioning signal measurement results. User equipment receives and measures positioning signals from the ARP, obtaining a positioning signal measurement result. The terminal can then send the ARP positioning signal measurement result to the positioning device, which then determines the ARP location information based on the ARP positioning signal measurement result. Alternatively, the user equipment can determine the ARP location information based on the ARP positioning signal measurement result and send the ARP location information to the positioning device.

[0111] The measurement result of the ARP positioning signal includes the angle information of the ARP, which includes but is not limited to AOD or AOA. Optionally, the measurement result of the ARP positioning signal also includes at least one of TDOA, Multi-RTT, reference signal receiving power (RSRP), reference signal receiving strength indicator (RSSI), and reference signal receiving quality (RSRQ).

[0112] S203: The user equipment sends the location estimation result of the ARP in each ARP group and the information of each ARP to the positioning device, or the user equipment determines the location information of the user equipment according to the location estimation result of the ARP in each ARP group.

[0113] In one implementation, the user equipment reports the ARP location estimation result and the ARP information to the positioning device, such as carrying the ARP location estimation result and the ARP information in the same message to the positioning device to save signaling overhead.

[0114] If ARP is uniquely identified by an ARP ID, and the user device has sent the association relationship between the ARP group and ARP to the positioning device before positioning begins, the user device can only report the ARP location estimation result and the ARP ID to the positioning device. By associating the ARP location estimation result and the ARP ID, the positioning device can know that the ARP location estimation result is obtained based on the ARP measurement corresponding to the ARP ID after receiving the ARP location estimation result. The positioning device determines the ARP group to which the ARP associated with the ARP location estimation result belongs based on the ARP ID associated with the ARP location estimation result and the pre-acquired association relationship between the ARP group and ARP. Optionally, the user device can also report the ARP group ID and / or the relative location information of the ARP together with the ARP location estimation result to the positioning device.

[0115] If ARP is uniquely identified by ARP ID and ARP group ID, then in order for the positioning device to distinguish which ARP the reported ARP location estimation result is associated with (or which ARP it belongs to), the user device needs to report the ARP location estimation result, ARP ID and ARP group ID together to the positioning device. After the positioning device receives the ARP location estimation result, it identifies the ARP associated with the ARP location estimation result based on the ARP ID and ARP group ID. Furthermore, it can also determine the ARP group to which the ARP associated with the ARP location estimation result belongs based on the ARP group ID. Optionally, the user device can also report the relative location information of the ARP together with the ARP location estimation result to the positioning device.

[0116] Optionally, the location estimation results of the ARPs in the two ARP groups reported by the user equipment to the positioning device are obtained by simultaneous measurement. Accordingly, before the user equipment performs location estimation, the network side can request the user equipment to simultaneously measure the positioning signals on the ARPs in the two ARP groups.

[0117] Optionally, when the user equipment reports the ARP location estimation results in the two ARP groups to the positioning device, it may carry not only the ARP information but also the timestamp corresponding to the ARP location estimation results. Optionally, the timestamps corresponding to the ARP location estimation results in the two ARP groups are the same.

[0118] In this embodiment, the user device sends the location estimation results of the ARPs in the two ARP groups and the information of each ARP to the positioning device. The positioning device calculates the location estimation results of the ARPs in each ARP group respectively to obtain the location information of the user device corresponding to each ARP group. The location information of the user device corresponding to each ARP group can also be called the location information of the ARP group. The location information of each ARP group corresponds to a location information of the user device.

[0119] After determining the location information of the user equipment, the positioning device may send the location information of the user equipment to the user equipment and other devices, wherein the other devices include other terminals (such as external clients) or network devices that require the location information of the user equipment.

[0120] In another implementation method, optionally, the user device may not send the position estimation results of the ARPs in the two ARP groups to the positioning device. Instead, the user device calculates the position estimation results of the ARPs in each ARP group based on the position estimation results of the ARPs in the two ARP groups to obtain the position information of the user device corresponding to each ARP group.

[0121] Optionally, after acquiring the location information, the user equipment may send the location information of the user equipment to the positioning device and other devices, wherein the other devices include other terminals (such as external clients) or network devices that require the location information of the user equipment.

[0122] Optionally, the location information of the user device includes, but is not limited to, at least one of the following: the absolute position of the user device, the relative position of the user device, the position change (ranging) between the user device and other nodes, and the position change of the user device. The position change between the user device and other nodes refers to the displacement of the user device relative to other nodes between two moments, for example, the displacement of the user device relative to other nodes from the previous moment to the current moment. The position change of the user device refers to the displacement of the user device between two moments, for example, the displacement of the user device from the previous moment to the current moment.

[0123] Optionally, when the user equipment and the positioning device calculate the location information of the ARP group based on the location estimation result of the ARP in the ARP group, they can use the same calculation method or different calculation methods, which is not limited in this embodiment of the present application.

[0124] If the ARP location estimation result is the ARP location information, illustratively, the user equipment / positioning device may determine the location information of the user equipment in any of the following ways:

[0125] (1) The user equipment / positioning device may randomly select an ARP location information from the ARP group as the user equipment location information.

[0126] (2) The user equipment / positioning device calculates average location information based on the location information of each ARP in the ARP group, and uses the average location information as the location information of the user equipment.

[0127] (3) The user equipment / positioning device calculates a weighted average location information based on the location information of each ARP in the ARP group and a predefined weighting factor, and uses the weighted average location information as the location information of the user equipment.

[0128] (4) The user equipment / positioning device does not process the ARP location information and uses all the ARP location information as the terminal's location information.

[0129] If the ARP location estimation result is the measurement result of the ARP positioning signal, the user equipment / positioning device first determines the ARP location information based on the measurement result of the ARP positioning signal, and then determines the user equipment location information based on the ARP location information using any of the above methods.

[0130] In this embodiment, the user equipment receives positioning signals on the ARPs in two ARP groups, performs position estimation based on the positioning signals received on the ARPs in each ARP group, obtains a position estimation result for each ARP, and sends the position estimation result of the ARPs in each ARP group and the information of each ARP to the positioning device, so that the positioning device determines the position information of the user equipment corresponding to each ARP group based on the position estimation result of the ARPs in each ARP group, thereby realizing the positioning of multiple devices separately.

[0131] Example 3

[0132] Based on the first embodiment, the third embodiment of the present application provides a positioning method. The implementation methods described in the first embodiment can be applied to the third embodiment and can achieve the same technical effect. This embodiment takes the example of a user device including two devices, each of which is provided with an ARP group. The difference between this embodiment and the first embodiment is that, in this embodiment, the positioning device estimates the position of the ARP within the ARP group. Figure 5 is a flowchart of the positioning method provided in the third embodiment of the present application. As shown in Figure 5, the method provided in this embodiment includes the following steps.

[0133] S301: The user equipment sends information of two ARP groups to the positioning device. The information of the ARP group includes an ARP group identification ID and an ARP ID within the ARP group.

[0134] In this embodiment, the positioning device estimates the position of the ARP in the ARP group. Therefore, the user equipment needs to send the association between the ARP group and the ARP to the positioning device so that the positioning device can subsequently locate the user equipment based on the association.

[0135] Optionally, the information of the ARP group further includes relative position information of the ARPs within the ARP group, and the relative position information of the ARPs within the ARP group is used to determine the LCS of the ARP group.

[0136] S302: The user equipment sends a positioning signal on the ARPs in two ARP groups.

[0137] The positioning device measures the positioning signal sent on the ARP to obtain the ARP position estimation result. The position estimation result of each ARP includes but is not limited to: the ARP position information and at least one of the measurement result of the ARP positioning signal.

[0138] After the positioning device obtains the ARP location estimation result, in one optional method, the positioning device determines the ARP group to which the ARP belongs based on the association between the ARP group and the ARP, and determines the location information of the user device based on the location estimation results of the ARPs within the same ARP group. In another optional method, the positioning device sends the ARP location estimation result and the ARP information together to the user device, and the user device determines the location information of the user device based on the location estimation results of the ARPs within the ARP group. By sending the ARP location estimation result and the ARP information to the positioning device in the same message, the user device can save signaling overhead.

[0139] In this embodiment, the manner in which the positioning device sends the ARP position estimation result and ARP information to the user equipment is the same as the manner in which the user equipment sends the ARP position estimation result and ARP information to the positioning device. Please refer to the relevant description of Example 2 and will not be repeated here.

[0140] In addition, the positioning device or user equipment determines the location information of the user equipment according to the ARP location estimation result in the ARP group in the same manner as in the second embodiment. Please refer to the relevant description of the second embodiment and will not be repeated here.

[0141] In this embodiment, the user equipment sends information of two ARP groups to the positioning device, where the information of the ARP groups includes an ARP group identification ID and an ARP ID within the ARP group, and sends a positioning signal on the ARPs within the two ARP groups, so that the positioning device estimates the position of the ARPs based on the positioning signal sent on the ARPs within the ARP groups, and determines the position information of the user equipment based on the position estimation result of the ARPs within the ARP groups.

[0142] Example 4

[0143] The embodiments of the present application also provide a positioning method for positioning the rotation angle of a user device. In one implementation, the positioning of the rotation angle of the user device can be performed independently from the position positioning of the user device, so that the determination of the rotation angle information of the user device does not depend on the position estimation result of the ARP in the aforementioned embodiment, nor does it depend on the scheme that the user device corresponds to at least two ARP groups in the aforementioned embodiment. That is to say, embodiment four can be performed separately from the aforementioned embodiments one to three. In another implementation, the positioning of the rotation angle of the user device can be associated with the position positioning of the user device, and the determination of the rotation angle information of the user device is based on the position estimation result of the ARP in the aforementioned embodiment. For example, the rotation angle information of the user device can be determined based on the position information or angle information of the ARP included in the position estimation result of the ARP. Accordingly, embodiment four can be performed on the basis of the aforementioned embodiments one to three.

[0144] It should be noted that the method for determining the rotation angle information of a user device provided in this embodiment is applicable not only to user devices including multiple devices, such as XR devices, but also to user devices including a single device. Specifically, when determining the rotation angle information of a user device including multiple devices, the rotation angle information of the ARP group may be determined based on the aforementioned ARP group, or the rotation angle information of the user device may be determined independently of the ARP group. For example, an ARP may be selected from each of the multiple devices included in the user device to determine the location information of the user device.

[0145] FIG6 is a flowchart of a positioning method provided in a fourth embodiment of the present application, which is applied to a user device and is used to determine the rotation angle information of the user device. As shown in FIG6 , the method provided in this embodiment includes the following steps.

[0146] S401: User equipment obtains ARP location information or angle information.

[0147] Optionally, the user device can obtain ARP location information in the following ways:

[0148] Method 1: The user equipment estimates its position based on the positioning signal received on the ARP to obtain the ARP location information.

[0149] Method 2: The user equipment receives the ARP location information sent by the positioning device.

[0150] Method 3: The user equipment uses a global positioning system (GPS) or other positioning methods to obtain the ARP location information.

[0151] The angle information of the ARP includes but is not limited to the AOA or AOD of the ARP. The user equipment estimates the position according to the positioning signal received on the ARP to obtain the AOA or AOD of the ARP.

[0152] S402: The user equipment determines rotation angle information of the user equipment according to the location information or angle information of the ARP.

[0153] The rotation angle information of the user device refers to the angular changes of the pitch, yaw, and roll angles of the user device, including but not limited to at least one of the following: the rotation angles of the pitch, yaw, and roll angles of the user device at two different times (for example, time T1 and time T2), or the rotation angles of the pitch, yaw, and roll angles of the user device relative to other devices.

[0154] Method 1: The user equipment determines the rotation angle information of the user equipment according to the ARP location information.

[0155] When the user equipment determines the rotation angle information of the user equipment based on the location information of the ARP, the user equipment needs to obtain the location information of the ARP, such as the location information of at least three ARPs. The user equipment determines the rotation angle information of the user equipment based on the location information of the at least three ARPs and the relative location information of the at least three ARPs in the LCS.

[0156] Taking three ARPs as an example, at time T1, the user device determines the three unit vectors corresponding to the three ARPs in the LCS based on their locations in the LCS. The three unit vectors corresponding to the three ARPs in the GCS are determined based on their locations in the GCS. The conversion matrix between the LCS and GCS is determined based on the three unit vectors corresponding to the three ARPs in the LCS and GCS. The conversion parameters between the LCS and GCS at time T1 are determined based on the conversion matrix between the LCS and GCS. Optionally, the user device may use the conversion parameters as the user device's rotation angle.

[0157] The user equipment obtains the conversion parameters of the LCS and GCS at time T2 in a similar manner. Optionally, time T2 is later than time T1. Optionally, the user equipment may use the conversion parameters at time T2 as the rotation angle of the user equipment. Alternatively, the user equipment determines the rotation angle of the user equipment from time T1 to time T2 based on the conversion parameters of the LCS and GCS at times T1 and T2.

[0158] The LCS is established based on the three ARPs. The establishment of the LCS is described in the preceding embodiment. The GCS may be a world coordinate system. If the position information of the three ARPs is determined in the GCS, the position information of the three ARPs may be directly used to determine the three unit vectors corresponding to the three ARPs in the GCS. If the position information of the three ARPs is not determined in the GCS, the conversion parameters between the LCS and the coordinate system corresponding to the position information may be determined based on the estimated coordinate system corresponding to the position information. In other words, the estimated coordinate system corresponding to the position information may be used in place of the GCS.

[0159] The conversion parameters between the LCS and the GCS at time T1 or time T2 include a bearing angle α, a downtilt angle β, and a slant angle γ. The conversion parameters between the LCS and the GCS can be determined using existing methods and will not be described in detail in this embodiment.

[0160] The user device may determine the rotation angle of the LCS relative to the GCS based on the conversion parameters of the LCS and the GCS at time T1 and time T2. Alternatively, the rotation angles of the two LCSs may be determined based on the vector coordinates of the three unit vectors in the GCS in two different LCSs. Specifically, a first rotation angle of LCS1 relative to the GCS and a second rotation angle of LCS2 relative to the GCS may be determined, and the rotation angle of LCS1 relative to LCS2 may be determined based on the first rotation angle and the second rotation angle.

[0161] The rotation angle of the LCS relative to the GCS, and / or the rotation angle of the LCS relative to other LCSs, and / or the rotation angle of the LCS relative to other designated CSs may be used as the rotation angle of the user equipment.

[0162] Method 2: The user equipment determines the rotation angle information of the user equipment according to the angle information of the ARP.

[0163] Taking the angle information of ARP as AOA as an example, the user equipment may determine the rotation angle information of the user equipment according to the AOA of one or more ARPs.

[0164] When the user equipment determines the rotation angle information of the user equipment based on the AOA of one ARP, it is necessary to obtain the AOA of the ARP and TRPs (e.g., at least three ARPs). The rotation angle information of the user equipment is determined based on the AOA of the ARP and at least three TRPs in the LCS, and the AOA of the ARP and at least three TRPs in the GCS.

[0165] Taking three TRPs as an example, at time T1, the user equipment determines the three unit vectors of the ARP in the LCS based on the AOA of the ARP in the LCS and the three TRPs. Determine the three unit vectors of the ARP in the GCS based on the AOA of the ARP in the GCS and the three TRPs. Determine the transformation matrix between the LCS and the GCS based on the three unit vectors corresponding to the ARP in the LCS and the GCS, and determine the transformation parameters between the LCS and the GCS at time T1 based on the transformation matrix between the LCS and the GCS. Optionally, the user equipment can use the transformation parameters as the rotation angle of the user equipment.

[0166] The user equipment obtains the conversion parameters of the LCS and GCS at time T2 in the same manner. Optionally, the user equipment may use the conversion parameters at time T2 as the rotation angle of the user equipment, or determine the rotation angle of the user equipment from time T1 to time T2 based on the conversion parameters of the LCS and GCS at time T1 and time T2.

[0167] The AOA of ARP and three TRPs is not limited to the GCS, and can also be the AOA in other CSs.

[0168] Optionally, the angle (AOA or AOD) between ARP and TRP in GCS or other CS can be determined by at least one of the following methods: determined by the positions of ARP and TRP in GCS or other CS, determined by the AOD / AOA measurement results of the positioning device and ARP measured by the positioning device, determined by the AOD / AOA measurement results of the positioning device and ARP measured by the positioning device and sending the determined AOA or AOD to the user device.

[0169] Optionally, the user equipment can also determine the rotation angle information of the user equipment based on the AOA of at least 3 ARPs. Accordingly, the terminal needs to obtain the AOA of the at least 3 ARPs and one TRP, and determine the rotation angle information of the user equipment based on the AOA of the at least 3 ARPs and one TRP in the LCS, and the AOA of the at least 3 ARPs and one TRP in the GCS.

[0170] Among them, in determining the conversion parameters between LCS and GCS at time T1 or time T2, the calculation principles of using the AOA of one ARP and at least three TRPs, and the AOA of at least three ARPs and one TRP are the same and will not be repeated here.

[0171] Optionally, the AOA may be replaced by AOD. Optionally, the AOD in LCS may be determined by the terminal after measuring the positioning signal of the user equipment through a positioning device and feeding back the measurement result to the terminal.

[0172] After determining the rotation angle information of the user equipment, the user equipment may send the rotation angle information to the positioning device or other devices, including terminals or network devices that require the rotation angle information of the user equipment.

[0173] Optionally, before determining the rotation angle information, the user equipment receives first configuration information sent by a positioning device or other network device, where the first configuration information includes information for determining and / or requesting (reporting) the rotation angle information of the user equipment.

[0174] Optionally, in other embodiments of the present application, the user device may also send the ARP location information or angle information to the positioning device, and the positioning device may determine the rotation angle information of the user device based on the ARP location information or angle information. The positioning device may determine the rotation angle information of the user device using any of the above methods, which will not be repeated here.

[0175] Optionally, before sending the ARP angle information to the positioning device, the user equipment receives second configuration information sent by the positioning device or other network device, where the second configuration information includes information for determining and / or requesting (reporting) the ARP angle information.

[0176] In this embodiment, the user device obtains the position information or angle information of the ARP and determines the rotation angle information of the user device based on the position information or angle information of the ARP, thereby achieving 6DOF positioning of the user device. For a user device including multiple devices, the rotation angle information of each device can be determined separately based on the position information or angle information of the ARP on each device. For example, for an XR device, the rotation angle information of the head-mounted device can be determined based on the position information or angle information of the ARP on the head-mounted device, and the rotation angle information of the handle can be determined based on the position information or angle information of the ARP on the handle.

[0177] Example 5

[0178] On the basis of Example 4, Example 5 of the present application provides a positioning method for determining the rotation angle information of a user device. The implementation methods described in Example 4 can be applied to Example 5 and can achieve the same technical effect. This embodiment is explained by taking the example that the user device includes two devices, and an ARP group is set on each device, that is, the user device includes two ARP groups, and the user device determines the rotation angle information of the ARP group to which the ARP belongs based on the location information of the ARP. Figure 7 is a flowchart of the positioning method provided in Example 5 of the present application. As shown in Figure 7, the method provided in this embodiment includes the following steps.

[0179] S501: User equipment obtains ARP location information.

[0180] For the specific acquisition method, refer to the description of step S401 in the fourth embodiment.

[0181] S502: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP and the relative location information of the ARP in the LCS of the ARP group to which the ARP belongs.

[0182] In this embodiment, the ARP group includes ARPs, such as at least 3 ARPs. The user equipment obtains the location information of at least 3 ARPs in the ARP group, and determines the rotation angle information of the ARP group based on the location information of the ARPs in the ARP group and the relative location information of the ARPs in the ARP group.

[0183] Optionally, the rotation angle information of the ARP group to which the ARP belongs includes any of the following information:

[0184] At least one of the coordinate conversion parameters of the LCS of the ARP group and the target coordinate system, a timestamp, and the ARP group ID, where the target coordinate system includes at least one of the GCS, the coordinate system corresponding to the position estimation result of the ARP in the ARP group, and the LCS of another ARP group;

[0185] or at least one of a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp at the reference time, a coordinate conversion parameter between the LCS of the ARP group at the target time and the LCS of the ARP group at the reference time, a timestamp at the target time, and an ARP group ID;

[0186] or at least one of a coordinate conversion parameter between the LCS of the ARP group and the LCS of the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a target time, a timestamp of the target time, and an ARP group ID;

[0187] Alternatively, at least one of the coordinate conversion parameters of the LCS of the ARP group and the target coordinate system at the reference time, the timestamp of the reference time, the coordinate conversion parameters of the LCS of the ARP group at the target time and the target coordinate system at the reference time, the timestamp of the target time, and the ARP group ID.

[0188] When the target coordinate system is the LCS of another ARP group, the ARP group and the other ARP group are both ARP groups of the user equipment, and the user equipment includes multiple ARP groups.

[0189] The target time and the reference time are two different times, the target time is later than the reference time, and optionally, the target time is the current time.

[0190] Optionally, the reference time is any one of the following times: the previous time of the current time, the time of the first position estimation of ARP, the time corresponding to the first measurement instance in the measurement report, and the time corresponding to the first measurement instance in the measurement window indicated by the network.

[0191] Optionally, the reference time is determined by at least one of the following methods: protocol agreement, network indication, and terminal determination.

[0192] Optionally, the above-mentioned coordinate conversion parameters include conversion angles (azimuth angle α, downtilt angle β and tilt angle γ) and at least one of the following parameters: angle granularity of the coordinate conversion parameters, angle estimation quality or angle estimation confidence.

[0193] In this embodiment, the method for the user device to determine the rotation angle information of the ARP group is the same as the principle of method one in embodiment four. The difference is that embodiment four does not introduce the concept of ARP group, and the ARP used when determining the rotation angle information of the user device belongs to the user device, while this embodiment introduces the concept of ARP group, and the ARP used when determining the rotation angle information of an ARP group belongs to the ARP group. The specific determination method refers to method one in embodiment four and will not be repeated here.

[0194] S503: The user equipment sends the rotation angle information of the ARP group to which the ARP belongs to the positioning device.

[0195] It can be understood that step S503 is an optional step. After determining the rotation angle information of the ARP group, the user equipment may use it only for its own use and not send it to the positioning device. Alternatively, the user equipment may send the rotation angle information of the ARP group to other devices that need the rotation angle information of the user equipment.

[0196] Optionally, the user equipment carries the ARP position estimation result and the rotation angle information of the ARP group to which the ARP belongs in the same message and sends it to the positioning device to save signaling. For example, the ARP position estimation result and the rotation angle information of the ARP group to which the ARP belongs can be included in the same measurement report. Of course, the ARP position estimation result and the rotation angle information of the ARP group to which the ARP belongs can also be sent separately, and this embodiment of the present application is not limited to this.

[0197] Optionally, before determining the rotation angle information of the ARP group to which the ARP belongs, the user equipment receives first configuration information, where the first configuration information includes information for determining and / or reporting the rotation angle information of the ARP group to which the ARP belongs.

[0198] Correspondingly, the user equipment determines the rotation angle information of the ARP group according to the first configuration information, the position information of the ARP in the ARP group, and the relative position information of the ARP in the LCS of the ARP group.

[0199] The first configuration information may be sent by the positioning device to the user equipment, or may be sent by other network devices to the user equipment.

[0200] Optionally, the first configuration information includes at least one of the following information:

[0201] Estimation accuracy of rotation angle;

[0202] The reporting granularity of the rotation angle;

[0203] an indication of the reference time;

[0204] ARP group ID to be reported;

[0205] Determined time information of the rotation angle;

[0206] Reporting time information of rotation angle;

[0207] Response time requirements for reporting rotation angles;

[0208] ARP information used to assist in determining the rotation angle;

[0209] The location information of the TRP is used to assist in determining the location information of the ARP.

[0210] To ensure a positive user experience, certain tracking accuracy requirements must be met for user devices. Understandably, different types of user devices may have different tracking accuracy requirements. For example, XR devices must achieve position tracking accuracy below 1cm, rotation angle tracking accuracy below 1 / 4 degree, and latency below 20ms.

[0211] The estimated accuracy of the rotation angle in the first configuration information is the tracking accuracy requirement of the rotation angle of the user device. For example, the estimated accuracy of the rotation angle is within x degrees. For example, the value of x is 1 / 4 degree or 1 / 2 degree. The smaller the value of x, the higher the estimated accuracy requirement of the rotation angle.

[0212] The reporting granularity of the rotation angle refers to the accuracy requirement of the rotation angle of the ARP group sent by the user device to the positioning device or other devices. For example, the granularity of the rotation angle reported by the user device is required to be 0.XX or 0.X. 0.XX means that the reported rotation angle value must be accurate to two decimal places, and 0.X means that the reported rotation angle value must be accurate to one decimal place.

[0213] The ARP group ID corresponding to the requested rotation angle information indicates a request to report the rotation angle information of the ARP group corresponding to the ARP group ID. The user device has multiple ARP groups, and the network side can specify which ARP groups the user device reports the rotation angles of.

[0214] The rotation angle determination time information may be a sampling interval, which indicates how often the rotation angle is determined. Optionally, the rotation angle determination time information also includes a sampling start time.

[0215] The reporting time information of the rotation angle may be a reporting interval, where the reporting interval indicates how often the reporting is performed.

[0216] The reporting response time requirement for the rotation angle requires the user equipment to report the rotation angle information within the response time after receiving the first configuration information.

[0217] An ARP group may include multiple ARPs. When determining the rotation angle information of the ARP group, only some ARPs in the ARP group may be required. Therefore, the network side may indicate information about the ARPs used to assist in determining the rotation angle, such as location information, ARP ID, or at least one of the ARP ID and ARP group of the ARPs that assist in determining the rotation angle. The user equipment uses the ARPs indicated by the network side to determine the rotation angle of the ARP group.

[0218] The network side may also indicate TRP information to assist in determining the location information of the ARP, where the TRP information includes at least one of the TRP identifier, the number of TRPs, and the location information of the TRP.

[0219] It should be noted that all or part of the information in the first configuration information may also be indicated by a protocol agreement, a predefined method, or a method determined by the terminal. For example, the reference time indication information may be indicated by a predefined method, or the ARP group to be reported may be determined by the user equipment itself, and the ARP that assists in determining the rotation angle may be determined by the terminal itself or all ARPs in the group may be used by default.

[0220] In this embodiment, the user device obtains the ARP location information, determines the rotation angle information of the ARP group to which the ARP belongs based on the ARP location information and the relative location information of the ARP in the LCS of the ARP group to which the ARP belongs, and transmits the rotation angle information of the ARP group to which the ARP belongs to a positioning device. This method can determine the rotation angle information of the ARP group based on the ARP location information. When the user device includes multiple devices, the rotation angle of the ARP group on each device can be determined, thereby enabling the rotation angle positioning of the multiple devices included in the user device to be determined separately.

[0221] Example 6

[0222] Based on Example 4, Example 6 of the present application provides a positioning method for determining the rotation angle information of a user device. The implementation methods described in Example 4 can be applied to Example 6 and can achieve the same technical effect. The difference between this embodiment and Example 5 is that in this embodiment, the user device determines the rotation angle information of the ARP group to which the ARP belongs based on the angle information of the ARP. Figure 8 is a flow chart of the positioning method provided in Example 6 of the present application. As shown in Figure 8, the method provided in this embodiment includes the following steps.

[0223] S601: The user equipment determines a first angle estimation result between the ARP and the TRP in the LCS of the ARP group to which the ARP belongs based on a positioning signal received on the ARP.

[0224] The first angle estimation result is the angle estimation result of the ARP and the TRP in the LCS of the ARP group to which the ARP belongs. The first angle estimation result includes an angle measurement value (for example, a measurement value of AOA or AOD), or the first angle estimation result includes the angle measurement value and a coordinate system corresponding to the angle estimation result.

[0225] The coordinate system corresponding to the angle estimation result may be the LCS of the ARP group or another coordinate system.

[0226] Optionally, the coordinate system corresponding to the default angle estimation result is the LCS of the ARP group. When the coordinate system corresponding to the default angle estimation result is the LCS of the ARP group by default, the first angle estimation result may only include the angle measurement value, but not the coordinate system corresponding to the angle estimation result.

[0227] The user device can obtain the first angle estimation result of all or part of the ARPs in the ARP group. For example, the user device obtains the first angle estimation result of one ARP in the LCS of the ARP group and three TRPs, or the user device obtains the first angle estimation result of three ARPs in the LCS of the ARP group and one TRP.

[0228] S602: The user equipment obtains a second angle estimation result of the ARP, where the second angle estimation result is an angle estimation result between the ARP and the TRP in the GCS.

[0229] The second angle estimation result of the ARP may be configured on the network side, or may be estimated by the user equipment according to the ARP location information.

[0230] Taking one TRP as an example, illustratively, the user equipment calculates the angle between the ARP and three TRPs in the GCS based on the location information of the ARP in the GCS.

[0231] S603: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP.

[0232] In this embodiment, the method for the user device to determine the rotation angle information of the ARP group is the same as the principle of method 2 in Example 4. The difference is that Example 4 does not introduce the concept of ARP group. The ARP used when determining the rotation angle information of the user device belongs to the user device, while this embodiment introduces the concept of ARP group. The ARP used when determining the rotation angle information of an ARP group must belong to the ARP group. The specific determination method refers to method 2 in Example 4 and will not be repeated here.

[0233] S604: The user equipment sends the rotation angle information of the ARP group to which the ARP belongs to the positioning device.

[0234] It can be understood that step S603 is an optional step. After determining the rotation angle information of the ARP group, the user equipment may use it only for its own use and not send it to the positioning device. Alternatively, the user equipment may send the rotation angle information of the ARP group to other devices that need the rotation angle information of the user equipment.

[0235] In other embodiments of the present application, after the user equipment determines the first angle estimation result between the ARP and the TRP in the LCS of the ARP group to which it belongs based on the positioning signal received on the ARP, the user equipment sends the first angle estimation result to the positioning device, and the positioning device uses the first angle estimation result to determine the rotation angle information of the ARP group to which the ARP belongs.

[0236] Optionally, the first angle estimation result and other downlink measurement results are carried in the same message and sent to the positioning device. For example, the first angle estimation result and downlink measurement results such as reference signal time difference (RSTD), Rx-Tx time difference, and RSRP are reported to the positioning device together.

[0237] Optionally, before determining the first angle estimation result of the ARP, the user equipment receives second configuration information, where the second configuration information includes information for determining and / or reporting the first angle (AOA or AOD) estimation result. The second configuration information may be sent to the user equipment by the positioning device or by other network devices.

[0238] Optionally, the second configuration information includes at least one of the following:

[0239] Angle estimation result reporting enable flag;

[0240] Information about the coordinate system corresponding to the reported angle estimation result;

[0241] Angle estimation accuracy;

[0242] Angle reporting granularity;

[0243] The ARP group ID corresponding to the angle estimation result requested to be reported;

[0244] The ARP ID corresponding to the angle estimation result requested to be reported;

[0245] Angle determines time information;

[0246] Angle reporting time information;

[0247] Angle reporting response time requirements;

[0248] An angle reporting method, the angle reporting method including: a first reporting method for reporting an angle estimation result of a first path, or a second reporting method for reporting an angle estimation result of a multipath;

[0249] The number of angle measurements reported for each path;

[0250] TRP information for angle estimation.

[0251] Among them, the angle in the second configuration information refers to AOA or AOD. The following target parameters in the second configuration information are similar to the definitions of the parameters in the first configuration information. The difference is that the angle in the second configuration information is different from the angle in the first configuration information, which will not be repeated here. The target parameters include: angle estimation accuracy, angle reporting granularity, ARP group ID corresponding to the angle estimation result requested to be reported, angle determination time information, angle reporting time information, and TRP information used for angle estimation.

[0252] The reporting enable flag of the angle estimation result indicates that the angle estimation result needs to be reported. The information of the coordinate system corresponding to the reported angle estimation result may be the type of the coordinate system, for example, LCS coordinates.

[0253] The ARP ID corresponding to the angle estimation result requested to be reported is used to indicate which ARP's AOA or AOD estimation results need to be reported.

[0254] When estimating the AOA or AOD between ARP and TRP, there are multipaths between each ARP and TRP. Therefore, when reporting the angle, two reporting methods are provided. The first reporting method only reports the angle estimation result of the first path, and the second reporting method reports the angle estimation result of the multipath. The user equipment uses the network side request or specified reporting method to report.

[0255] It should be noted that all or part of the information in the second configuration information may also be indicated by a protocol-agreed method, a predefined method, or a terminal-determined method. For example, if the user equipment can determine which angle reporting method to use, then the angle reporting method does not need to be carried in the second configuration information; or if the angle estimation accuracy and angle reporting granularity are agreed upon by the protocol, then the angle estimation accuracy and angle reporting granularity do not need to be carried in the second configuration information.

[0256] In this embodiment, the user equipment determines the first angle estimation result of the ARP and the TRP in the LCS of the ARP group to which it belongs based on the positioning signal received on the ARP, and obtains the second angle estimation result of the ARP and the TRP in the GCS. Based on the first angle estimation result and the second angle estimation result of the ARP, the rotation angle information of the ARP group to which the ARP belongs is determined, and the rotation angle information of the ARP group to which the ARP belongs is sent to the positioning device. This method can determine the rotation angle information of the ARP group to which the ARP belongs based on the AOA or AOD of the ARP and the TRP. When the user equipment includes multiple devices, the rotation angle of the ARP group on each device can be determined, so that the rotation angles of the multiple devices included in the user equipment can be positioned separately.

[0257] Example 7

[0258] Embodiment 7 of the present application provides a positioning method, which is executed by a positioning device. FIG9 is a flowchart of the positioning method provided by Embodiment 7 of the present application. As shown in FIG9 , the method provided by this embodiment includes the following steps.

[0259] S701. A positioning device receives information of at least one ARP group sent by a user equipment. The user equipment corresponds to at least two ARP groups. Each ARP group includes at least one ARP. Positioning signals on ARPs in different ARP groups respectively determine the position of the user equipment.

[0260] The ARP group information includes at least one of an ARP group ID, an ARP ID within the ARP group, and relative position information of ARPs within the ARP group. Based on the ARP group information, the positioning device can obtain an association between the ARP group and the ARPs. Optionally, the positioning device can also obtain the relative position relationship of the ARPs within the ARP group. The relative position relationship of the ARPs within the ARP group can be used to determine the rotation angle information of the ARPs.

[0261] S702: The positioning device obtains the location information of the ARP in the ARP group according to the information of the ARP group.

[0262] The positioning device obtains the location information of the ARP and determines the ARP group to which the ARP belongs based on the ARP group information.

[0263] Exemplarily, the positioning device obtains the ARP location information within the ARP group in the following ways:

[0264] Method 1: The positioning device receives the ARP location estimation result sent by the user equipment, determines the ARP location information based on the ARP location estimation result, and determines the ARP group to which the ARP belongs based on the ARP group information, thereby obtaining the ARP location estimation result within the ARP group.

[0265] The ARP position estimation result includes but is not limited to: ARP position information, at least one of the measurement result of the ARP positioning signal.

[0266] When the ARP location estimation result includes the ARP location information, the positioning device can directly use the ARP location information. The ARP location information can be determined by the user equipment based on the positioning signal on the ARP, or obtained through other methods, such as GPS positioning or other RAT-dependent positioning methods. RAT-independent positioning methods refer to positioning methods that are independent of radio access technology (RAT), and RAT-dependent positioning methods refer to positioning methods that are related to radio access technology.

[0267] When the ARP location estimation result includes the measurement result of the ARP positioning signal, the positioning device determines the ARP location information based on the measurement result of the ARP positioning signal, which is obtained by the user equipment based on the positioning signal on the ARP.

[0268] Method 2: The positioning device receives the positioning signal sent by the ARP, estimates the position of the ARP based on the positioning signal received from the ARP, obtains the ARP location information, determines the ARP group to which the ARP belongs based on the ARP group information, and thus obtains the position estimation result of the ARP within the ARP group.

[0269] S703: The positioning device determines the location of the user equipment according to the ARP location information in the ARP group.

[0270] The specific manner in which the positioning device determines the position of the user equipment is similar to that of the user equipment. For details, please refer to the description related to the user equipment and will not be repeated here.

[0271] Optionally, after determining the location information of the user equipment, the positioning device may send the location information of the user equipment to the user equipment and other devices, wherein the other devices include other terminals (such as external clients) or network devices that require the location information of the user equipment.

[0272] In this embodiment, the positioning device receives information about at least one ARP group sent by a user device. The user device corresponds to at least two ARP groups, each of which includes at least one ARP. The positioning device determines the location of the user device using positioning signals from the ARPs in different ARP groups. The positioning device also obtains the location information of the ARPs within the ARP groups and determines the location of the user device based on the location information of the ARPs within the ARP groups. If the user device includes multiple devices, an ARP group can be set for each device to distinguish the locations of the user devices using the ARP groups.

[0273] Example 8

[0274] Figure 10 is a flowchart of a positioning method provided in Example 8 of the present application, which is applied to a positioning device, and the positioning device determines the rotation angle information of the user equipment. As shown in Figure 10, the method provided in this embodiment includes the following steps.

[0275] S801: The positioning device obtains the location information or angle information of the ARP.

[0276] The manner in which the positioning device obtains the ARP location information is as described in step S701 of the seventh embodiment, and will not be repeated here.

[0277] The ARP angle information includes a first angle estimation result and a second angle estimation result of the ARP. The first angle estimation result is the angle estimation result between the ARP and the TRP in the LCS of the ARP group to which the ARP belongs, and the second angle estimation result is the angle estimation result between the ARP and the TRP in the GCS.

[0278] Optionally, the positioning device obtains the ARP angle information by: receiving the first angle estimation result and the second angle estimation result sent by the user equipment. The second angle estimation result may also be determined by the positioning device itself according to the ARP location information.

[0279] Optionally, the positioning device sends second configuration information to the user equipment, where the second configuration information includes information used to determine and / or report the first angle estimation result.

[0280] Optionally, the second configuration information includes at least one of the following: a reporting enable flag for the angle estimation result, information on the coordinate system corresponding to the reported angle estimation result; angle estimation accuracy, angle reporting granularity, ARP group ID corresponding to the angle estimation result requested to be reported, ARP ID corresponding to the angle estimation result requested to be reported, angle determination time information, angle reporting time information, angle reporting method, the angle reporting method including: a first reporting method for reporting the angle estimation result of the first path, or a second reporting method for reporting the angle estimation result of multiple paths, the number of angle measurement values ​​reported for each path, and TRP information used for angle estimation.

[0281] S802: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs based on the position information or angle information of the ARP.

[0282] Specifically, the positioning device determines the rotation angle information of the ARP group to which the ARP belongs based on the location information of the ARP and the relative location information of the ARP in the LCS of the ARP group to which the ARP belongs. Alternatively, the positioning device determines the rotation angle information of the ARP group to which the ARP belongs based on the first angle estimation result and the second angle estimation result of the ARP.

[0283] The specific manner in which the positioning device determines the rotation angle information of the ARP group to which the ARP belongs is similar to the specific manner in which the user equipment determines the rotation angle information of the ARP group to which the ARP belongs in the aforementioned embodiment, and will not be repeated here.

[0284] Optionally, the rotation angle information of the ARP group to which the ARP belongs includes the following information: at least one of a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system, a timestamp, and an ARP group ID.

[0285] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group at the target time and the LCS of the ARP group at the reference time, a timestamp of the target time, and an ARP group ID;

[0286] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a target time, a timestamp of the target time, and an ARP group ID;

[0287] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes the following information: the coordinate conversion parameters of the LCS of the ARP group and the target coordinate system at the reference time, the timestamp of the reference time, the coordinate conversion parameters of the LCS of the ARP group at the target time and the target coordinate system at the reference time, the timestamp of the target time, and at least one of the ARP group ID.

[0288] The target coordinate system includes at least one of a global coordinate system, a coordinate system corresponding to a position estimation result of an ARP in the ARP group, and an LCS of another ARP group.

[0289] S803: The positioning device sends the rotation angle information of the ARP group to the user equipment.

[0290] This step is optional. After determining the rotation angle information of the ARP group, the positioning device may send the rotation angle information of the ARP group to the user equipment and other devices that require the rotation angle of the user equipment.

[0291] Optionally, before determining the rotation angle information of the ARP group to which the ARP belongs based on the location information or angle information of the ARP, the positioning device receives first configuration information, where the first configuration information includes information for determining and / or reporting the rotation angle information of the ARP group to which the ARP belongs.

[0292] Optionally, the first configuration information includes at least one of the following information: estimated accuracy of the rotation angle, reporting granularity of the rotation angle, indication information of the reference time, ARP group ID corresponding to the rotation angle information requested to be reported, determination time information of the rotation angle, reporting time information of the rotation angle, ARP information used to assist in determining the rotation angle, and TRP information used to assist in determining the location information of the ARP.

[0293] In this embodiment, the positioning device obtains the position information or angle information of the ARP, determines the rotation angle information of the ARP group to which the ARP belongs based on the position information or angle information of the ARP, and locates the rotation angle of the user device by the positioning device, thereby achieving 6DOF positioning of the user device.

[0294] It should be noted that the embodiments on the positioning device side correspond to the embodiments on the user equipment side. The information sent by the user equipment is received by the positioning device, so its information limitation is consistent with that on the user equipment side. For features repeated on the UE side, they will not be repeated on the positioning device side.

[0295] Example 9

[0296] Based on the above embodiments, Embodiment 9 of the present application provides a positioning method. This embodiment is used to describe the signaling interaction between the user equipment and the positioning device during the positioning process. Figure 11 is a signaling flow chart of the positioning method provided by Embodiment 9 of the present application. As shown in Figure 11, the method provided by this embodiment includes the following steps.

[0297] S901: The user equipment sends ARP group information to the positioning device.

[0298] S902: The user equipment receives a positioning signal on an ARP in at least one ARP group.

[0299] S903: The user equipment estimates the location of the ARP according to the positioning signal received on the ARP to obtain the location information of the ARP.

[0300] S904: The user equipment sends the ARP position estimation result to the positioning device.

[0301] The ARP location estimation result includes the ARP ID corresponding to the ARP, or includes the ID corresponding to the ARP and the ARP group ID.

[0302] S905: The positioning device determines the location of the user equipment according to the ARP location information in the ARP group.

[0303] S906: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs based on the location information of the ARP.

[0304] S907: The positioning device sends the position of the user equipment and the rotation angle information of the ARP group to the user equipment.

[0305] Example 10

[0306] Based on the above embodiments, the tenth embodiment of the present application provides a positioning method. This embodiment is used to describe the signaling interaction between the user equipment and the positioning device during the positioning process. Figure 12 is a signaling flow chart of the positioning method provided in the tenth embodiment of the present application. As shown in Figure 12, the method provided in this embodiment includes the following steps.

[0307] S1001: User equipment sends ARP group information to a positioning device.

[0308] S1002: User equipment receives a positioning signal on an ARP in at least one ARP group.

[0309] S1003: The user equipment estimates the location of the ARP based on the positioning signal received on the ARP to obtain the location information of the ARP.

[0310] S1004: The user equipment determines the location of the user equipment according to the ARP location information in the ARP group.

[0311] S1005: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the ARP location information.

[0312] S1006: The user equipment sends the location of the user equipment and the rotation angle information of the ARP group to the positioning device.

[0313] The user equipment location and ARP group rotation angle information sent by the user equipment include the ARP group ID, so that the user equipment can know which ARP group the received user equipment location corresponds to and which ARP group the ARP rotation angle information belongs to based on the ARP group ID.

[0314] Example 11

[0315] Based on the above embodiments, the eleventh embodiment of the present application provides a positioning method. This embodiment is used to describe the signaling interaction between the user equipment and the positioning device during the positioning process. Figure 13 is a signaling flow chart of the positioning method provided in the eleventh embodiment of the present application. As shown in Figure 13, the method provided in this embodiment includes the following steps.

[0316] S1101: User equipment sends ARP group information to a positioning device.

[0317] S1102: User equipment receives a positioning signal on an ARP in at least one ARP group.

[0318] S1103: The user equipment determines a first angle estimation result between the ARP and the TRP in the LCS of the ARP group to which the ARP belongs based on the positioning signal received on the ARP.

[0319] S1104: The user equipment sends the first angle estimation result of the ARP to the positioning device.

[0320] S1105: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result of the ARP.

[0321] S1106: The positioning device determines the ARP location information according to the first angle estimation result of the ARP, and determines the location of the user equipment according to the ARP location information in the ARP group.

[0322] S1107: The positioning device sends the position of the user equipment and the rotation angle information of the ARP group to the user equipment.

[0323] The specific implementation methods of the ninth to eleventh embodiments refer to the description of the aforementioned embodiments and will not be repeated here.

[0324] Example 12

[0325] To facilitate better implementation of the positioning method of the embodiment of the present application, the embodiment of the present application also provides a positioning device, which can be used in a user device. Figure 14 is a structural schematic diagram of a positioning device provided in the twelve embodiment of the present application. As shown in Figure 14, the positioning device 100 provided in this embodiment includes the following modules.

[0326] The transmission module 11 is used to transmit a positioning signal on an ARP in at least one ARP group. The user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user equipment.

[0327] In an optional implementation, the apparatus 100 further includes:

[0328] The sending module 12 is configured to send the information of the ARP group to the positioning device, wherein the information of the ARP group includes at least one of an ARP group identification ID, an ARP ID within the ARP group, and relative position information of the ARP within the ARP group.

[0329] In an optional implementation, an ARP in an ARP group corresponds to an LCS, and / or a relative position of the ARP in the LCS of the ARP group to which it belongs is fixed.

[0330] In an optional implementation, the ARP is uniquely identified by an ARP ID; or, the ARP is uniquely identified by an ARP ID and an ARP group ID.

[0331] In an optional implementation, the ARP group information is carried in an ARP group list;

[0332] The ARP group list includes the information element IE of the at least one ARP group, and the IE of each ARP group includes the following fields: ARP group ID and ARP list;

[0333] The ARP list includes at least one ARP information element IE, and each ARP IE includes the following fields: at least one of an ARP ID and relative location information of the ARP.

[0334] In an optional implementation, the information of the ARP group is carried in an ARP list;

[0335] The ARP list includes at least one ARP information element IE, and each ARP IE includes the following fields: at least one of an ARP ID, relative position information of the ARP, and an ARP group ID.

[0336] In an optional implementation, the apparatus 100 further includes: a determination module, configured to determine rotation angle information of the ARP group to which the ARP belongs based on the position information or angle information of the ARP.

[0337] In an optional implementation manner, the determining module is specifically configured to determine the rotation angle information of the ARP group to which the ARP belongs according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

[0338] In another optional implementation, the determining module is specifically configured to:

[0339] Determining rotation angle information of an ARP group to which the ARP belongs based on the first angle estimation result and the second angle estimation result of the ARP;

[0340] Among them, the first angle estimation result is the angle estimation result of the ARP and the sending and receiving point TRP in the LCS of the ARP group to which the ARP belongs, and the second angle estimation result is the angle estimation result of the ARP and the TRP in the global coordinate system.

[0341] In an optional implementation, the sending module 12 is further configured to send the rotation angle information of the ARP group to which the ARP belongs to a positioning device.

[0342] In an optional implementation, the apparatus 100 further includes: a location estimation module, configured to estimate the location of the ARP according to the positioning signal received on the ARP to obtain location information of the ARP.

[0343] In an optional implementation, the apparatus 100 further includes: an angle estimation module, configured to determine a first angle estimation result of the ARP according to a positioning signal received on the ARP.

[0344] In an optional implementation, the sending module 12 is further configured to send the ARP location estimation result to a positioning device, where the ARP location estimation result includes the ARP location information and the ARP ID.

[0345] In an optional implementation, the position estimation result of the ARP and the rotation angle information of the ARP group to which the ARP belongs are carried in the same message and sent to the positioning device;

[0346] And / or, the ARP location estimation result and the information of the ARP group to which the ARP belongs are carried in the same message and sent to the positioning device.

[0347] In an optional implementation, the apparatus 100 further includes: a receiving module, configured to receive first configuration information, where the first configuration information includes information for determining and / or requesting rotation angle information of an ARP group to which the ARP belongs.

[0348] In an optional implementation, the rotation angle information of the ARP group to which the ARP belongs includes the following information: at least one of a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system, a timestamp, and an ARP group ID;

[0349] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group at the target time and the LCS of the ARP group at the reference time, a timestamp of the target time, and an ARP group ID;

[0350] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a target time, a timestamp of the target time, and an ARP group ID;

[0351] Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes at least one of the following information: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group at a target time and the target coordinate system at the reference time, a timestamp of the target time, and an ARP group ID;

[0352] The target coordinate system includes at least one of a global coordinate system, a coordinate system corresponding to a position estimation result of an ARP in the ARP group, and an LCS of another ARP group.

[0353] In an optional implementation, the first configuration information includes at least one of the following information:

[0354] Estimation accuracy of rotation angle;

[0355] The reporting granularity of the rotation angle;

[0356] an indication of the reference time;

[0357] The ARP group ID corresponding to the rotation angle information requested to be reported;

[0358] Determined time information of the rotation angle;

[0359] Reporting time information of rotation angle;

[0360] Response time requirements for reporting rotation angles;

[0361] ARP information used to assist in determining the rotation angle;

[0362] TRP information used to assist in determining the location information of the ARP.

[0363] In an optional implementation, the coordinate conversion parameter includes a conversion angle and at least one of the following parameters: an angle granularity of the coordinate conversion parameter, an angle estimation quality, or an angle estimation confidence.

[0364] In an optional implementation, the reference time is any one of the following times:

[0365] The moment before the current moment;

[0366] The moment of the first position estimate of ARP;

[0367] The time corresponding to the first measurement instance in the measurement report;

[0368] The time corresponding to the first measurement instance in the measurement window indicated by the network.

[0369] In an optional implementation, the apparatus 100 further includes:

[0370] An angle estimation module, configured to determine a first angle estimation result between the ARP and a transmitting / receiving point TRP in an LCS of an ARP group to which the ARP belongs based on a positioning signal received on the ARP;

[0371] The sending module 12 is further configured to send the first angle estimation result to a positioning device, where the first angle estimation result is used to determine the rotation angle information of the ARP group to which the ARP belongs.

[0372] In an optional implementation, the first angle estimation result includes an angle measurement value; or, the first angle estimation result includes the angle measurement value and a coordinate system corresponding to the angle estimation result.

[0373] In an optional implementation manner, the first angle estimation result and other downlink measurement results are carried in the same message and sent to the positioning device.

[0374] In an optional implementation, the apparatus 100 further includes: a receiving module, configured to receive second configuration information, where the second configuration information includes information for determining and / or requesting the first angle estimation result.

[0375] In an optional implementation, the second configuration information includes at least one of the following:

[0376] Angle estimation result reporting enable flag;

[0377] Information about the coordinate system corresponding to the reported angle estimation result;

[0378] Angle estimation accuracy;

[0379] Angle reporting granularity;

[0380] The ARP group ID corresponding to the angle estimation result requested to be reported;

[0381] The ARP ID corresponding to the angle estimation result requested to be reported;

[0382] Angle determines time information;

[0383] Angle reporting time information;

[0384] Angle reporting response time requirements;

[0385] An angle reporting method, the angle reporting method including: a first reporting method for reporting the angle estimation result of the first path, or a second reporting method for reporting the angle estimation result of the multipath;

[0386] The number of angle measurements reported for each path;

[0387] Information of the transmit / receive point TRP used for angle estimation.

[0388] In an optional implementation, the LCS of the ARP group satisfies at least one of the following conditions:

[0389] The origin of the LCS of the ARP group is the location of any ARP included in the ARP group;

[0390] The LCS of the ARP group uses a plane formed by any three ARPs included in the ARP group as one of the coordinate planes;

[0391] The LCS of the ARP group uses the vertical direction of the plane formed by any three ARPs included in the ARP group as one of the coordinate axes.

[0392] It should be understood that the apparatus embodiment of the user equipment and the method embodiment may correspond to each other, and similar descriptions may refer to the method embodiment. To avoid repetition, they will not be described here.

[0393] Example 13

[0394] A thirteenth embodiment of the present application provides a positioning device, which can be used in a positioning device. FIG15 is a structural diagram of a positioning device provided in the thirteenth embodiment of the present application. As shown in FIG15 , the positioning device 200 provided in this embodiment includes the following modules.

[0395] A receiving module 21 is configured to receive information of at least one antenna reference point (ARP) group sent by a user equipment, wherein the user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and positioning signals on ARPs in different ARP groups respectively determine the position of the user equipment;

[0396] An acquisition module 22 is configured to acquire location information of the ARP in the ARP group based on the information of the ARP group;

[0397] The first determining module 23 is configured to determine the location of the user equipment according to the ARP location information in the ARP group.

[0398] The information of the ARP group includes at least one of an ARP group identification ID, an ARP ID within the ARP group, and relative position information of ARPs within the ARP group.

[0399] In an optional implementation, the apparatus 200 further includes: a second determining module, configured to determine rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

[0400] In an optional implementation manner, the second determining module is specifically configured to determine the rotation angle information of the ARP group to which the ARP belongs according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

[0401] In another optional implementation, the second determining module is specifically configured to:

[0402] receiving a first angle estimation result sent by the user equipment, where the first angle estimation result is an angle estimation result between the ARP and a transmitting / receiving point TRP in an LCS of an ARP group to which the ARP belongs;

[0403] Obtain a second angle estimation result of the ARP, where the second angle estimation result is an angle estimation result between the ARP and the TRP in a global coordinate system;

[0404] Determine rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP.

[0405] It should be understood that the apparatus embodiments and method embodiments of the positioning device may correspond to each other, and similar descriptions can refer to the method embodiments. To avoid repetition, they are not repeated here. In addition, the positioning device side and the user device side also correspond to each other. To avoid repetition, any content that overlaps with the user device side is not repeated here.

[0406] The above describes the apparatus 100 and apparatus 200 of the embodiment of the present application from the perspective of functional modules in conjunction with the accompanying drawings. It should be understood that the functional module can be implemented in the form of hardware, can be implemented by instructions in the form of software, or can be implemented by a combination of hardware and software modules. Specifically, the steps of the method embodiment in the embodiment of the present application can be completed by the hardware integrated logic circuit and / or software instructions in the processor, and the steps of the method disclosed in the embodiment of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. Optionally, the software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps in the above method embodiment in conjunction with its hardware.

[0407] Example 14

[0408] The embodiment of the present application further provides a user equipment. FIG16 is a schematic diagram of a structure of a user equipment provided in the fourteenth embodiment of the present application. As shown in FIG16 , the user equipment 300 may include:

[0409] Memory 31 and processor 32, the memory 31 is used to store computer programs and transmit the program code to the processor 32. In other words, the processor 32 can call and run the computer program from the memory 31 to implement the method steps performed by the user equipment in the first to eleventh embodiments of the present application. Similar descriptions can refer to the method embodiments and are not repeated here to avoid repetition. For example, the processor 32 can be used to execute the above method embodiments according to the instructions in the computer program.

[0410] In some embodiments of the present application, the processor 32 may include but is not limited to: a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0411] In some embodiments of the present application, the memory 31 includes, but is not limited to, volatile memory and / or non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0412] In some embodiments of the present application, the computer program may be divided into one or more modules, which are stored in the memory 31 and executed by the processor 32 to implement the method provided by the present application. The one or more modules may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program in the user equipment.

[0413] As shown in FIG. 16 , the user equipment 300 may further include: a transceiver 33 , which may be connected to the processor 32 or the memory 31 .

[0414] The processor 32 can control the transceiver 33 to communicate with other devices. Specifically, it can send information or data to other devices or receive information or data sent by other devices. The transceiver 33 may include a transmitter and a receiver. The transceiver 33 may further include an antenna, and the number of antennas may be one or more.

[0415] It can be understood that, although not shown in FIG16 , the user equipment 300 may also include a camera module, a wireless fidelity WIFI module, a positioning module, a Bluetooth module, a display, a controller, etc., which will not be described in detail here.

[0416] It should be understood that the various components in the user equipment are connected via a bus system, wherein the bus system includes not only a data bus but also a power bus, a control bus and a status signal bus.

[0417] An embodiment of the present application further provides a positioning device, which includes a processor and a memory. The structure of the positioning device refers to the structure of the user equipment shown in Figure 16. The memory is used to store computer programs, and the processor is used to call and run the computer programs stored in the memory to execute the method steps performed by the positioning device in method embodiments 1 to 11 of the present application. Similar descriptions can refer to the method embodiments. To avoid repetition, they are not repeated here.

[0418] An embodiment of the present application further provides a computer storage medium having a computer program stored thereon. When the computer program is executed by a computer, the computer is enabled to execute the method executed by the user device or positioning device in the above-mentioned method embodiments 1 to 11. Similar descriptions can refer to the method embodiments. To avoid repetition, they are not repeated here.

[0419] An embodiment of the present application further provides a chip, which includes a processor, and the processor is used to call and run a computer program from a memory so that the chip executes the method performed by the user equipment or positioning device in the above-mentioned method embodiments 1 to 11. Similar descriptions can refer to the method embodiments, and to avoid repetition, they are not repeated here.

[0420] An embodiment of the present application provides a communication system, which includes at least a user device and a positioning device. The user device and the positioning device communicate with each other to implement the positioning method described in the above-mentioned method embodiments 1 to 11. Similar descriptions can refer to the method embodiments. To avoid repetition, they are not repeated here.

[0421] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0422] Modules described as separate components may or may not be physically separate, and components displayed as modules may or may not be physical modules, i.e., they may be located in one place or distributed across multiple network elements. Some or all of the modules may be selected based on actual needs to achieve the purpose of the present embodiment. For example, the functional modules in the various embodiments of the present application may be integrated into a processing module, or each module may exist physically separately, or two or more modules may be integrated into a single module.

[0423] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A positioning method, the method comprising: The user equipment transmits a positioning signal on an ARP within at least one antenna reference point ARP group. The user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user equipment.

2. The method according to claim 1, further comprising: The user equipment sends information of the ARP group to the positioning device, where the information of the ARP group includes at least one of an ARP group identification ID, an ARP ID within the ARP group, and relative position information of the ARP within the ARP group.

3. The method according to claim 1 or 2, wherein: The ARPs in an ARP group correspond to a local coordinate system LCS, and / or the relative position of the ARPs in the LCS of the ARP group to which they belong is fixed.

4. The method according to any one of claims 1 to 3, wherein: The ARP is uniquely identified by an ARP ID; Alternatively, the ARP is uniquely identified by an ARP ID and an ARP group ID.

5. The method according to claim 2, wherein: The information of the ARP group is carried in the ARP group list; The ARP group list includes the information element IE of the at least one ARP group, and the IE of each ARP group includes the following fields: ARP group ID and ARP list; The ARP list includes at least one ARP information element IE, and each ARP IE includes the following fields: at least one of an ARP ID and relative location information of the ARP.

6. The method according to claim 2, wherein: The information of the ARP group is carried in the ARP list; The ARP list includes at least one ARP information element IE, and each ARP IE includes the following fields: at least one of ARP ID, ARP relative position information, and ARP group ID.

7. The method according to claim 1 or 2, further comprising: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

8. The method according to claim 7, wherein: The user equipment determines, according to the location information of the ARP, the rotation angle information of the ARP group to which the ARP belongs, including: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP and the relative location information of the ARP in the LCS of the ARP group to which the ARP belongs.

9. The method according to claim 7, wherein: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the angle information of the ARP, including: The user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP; The first angle estimation result is an angle estimation result between the ARP and the transmitting and receiving point TRP in the LCS of the ARP group to which the ARP belongs, and the second angle estimation result is an angle estimation result between the ARP and the TRP in the global coordinate system.

10. The method according to claim 7, further comprising: The user equipment sends the rotation angle information of the ARP group to which the ARP belongs to a positioning device.

11. The method according to claim 7, wherein: Before the user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP, the method further includes: The user equipment estimates the position of the ARP according to the positioning signal received on the ARP to obtain the position information of the ARP.

12. The method according to claim 7, wherein: Before the user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the angle information of the ARP, the method further includes: The user equipment determines a first angle estimation result of the ARP according to the positioning signal received on the ARP.

13. The method according to claim 11, further comprising: The user equipment sends the ARP location estimation result to the positioning device, where the ARP location estimation result includes the ARP location information and ARP ID.

14. The method according to claim 13, wherein: The position estimation result of the ARP and the rotation angle information of the ARP group to which the ARP belongs are carried in the same message and sent to the positioning device; or, The location estimation result of the ARP and the information of the ARP group to which the ARP belongs are carried in the same message and sent to the positioning device.

15. The method according to claim 7, wherein: Before the user equipment determines the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP, the method further includes: The user equipment receives first configuration information, where the first configuration information includes information for determining and / or requesting rotation angle information of an ARP group to which the ARP belongs.

16. The method according to any one of claims 7 to 15, wherein: The rotation angle information of the ARP group to which the ARP belongs includes: at least one of the coordinate conversion parameters of the LCS of the ARP group and the target coordinate system, a timestamp, and an ARP group ID; Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes: at least one of: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp at the reference time, a coordinate conversion parameter between the LCS of the ARP group at the target time and the LCS of the ARP group at the reference time, a timestamp at the target time, and an ARP group ID; Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes: at least one of: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a target time, a timestamp of the target time, and an ARP group ID; Alternatively, the rotation angle information of the ARP group to which the ARP belongs includes: at least one of: a coordinate conversion parameter between the LCS of the ARP group and the target coordinate system at a reference time, a timestamp of the reference time, a coordinate conversion parameter between the LCS of the ARP group at a target time and the target coordinate system at a reference time, a timestamp of the target time, and an ARP group ID; The target coordinate system includes at least one of a global coordinate system, a coordinate system corresponding to a position estimation result of an ARP in the ARP group, and an LCS of another ARP group.

17. The method according to claim 15, wherein: The first configuration information includes at least one of the following information: The estimated accuracy of the rotation angle; The reporting granularity of the rotation angle; an indication of the reference time; The ARP group ID corresponding to the rotation angle information requested to be reported; Determined time information of the rotation angle; Reporting time information of rotation angle; The reporting response time requirements for the rotation angle; ARP information used to assist in determining the rotation angle; Information of the TRP used to assist in determining the location information of the ARP.

18. The method according to claim 16, wherein: The coordinate conversion parameters include a conversion angle and at least one of the following parameters: an angle granularity of the coordinate conversion parameters, an angle estimation quality, or an angle estimation confidence.

19. The method according to claim 16, wherein: The reference time is any one of the following times: The moment before the current moment; The moment of the first position estimate of ARP; The time corresponding to the first measurement instance in the measurement report; The time corresponding to the first measurement instance in the measurement window indicated by the network.

20. The method according to claim 1 or 2, further comprising: The user equipment determines, according to the positioning signal received on the ARP, a first angle estimation result between the ARP and the transmission and reception point TRP in the LCS of the ARP group to which the ARP belongs; The user equipment sends the first angle estimation result to a positioning device, where the first angle estimation result is used to determine rotation angle information of the ARP group to which the ARP belongs.

21. The method according to claim 12 or 20, wherein: The first angle estimation result includes an angle measurement value; Alternatively, the first angle estimation result includes the angle measurement value and a coordinate system corresponding to the angle estimation result.

22. The method according to claim 20, wherein: The first angle estimation result and other downlink measurement results are carried in the same message and sent to the positioning device.

23. The method according to claim 12 or 20, wherein: Before determining the first angle estimation result of the ARP, the method further includes: The user equipment receives second configuration information, where the second configuration information includes information for determining and / or requesting the first angle estimation result.

24. The method according to claim 23, wherein: The second configuration information includes at least one of the following: Angle estimation result reporting enable flag; Information about the coordinate system corresponding to the reported angle estimation result; Angle estimation accuracy; Angle reporting granularity; The ARP group ID corresponding to the angle estimation result requested to be reported; The ARP ID corresponding to the angle estimation result requested to be reported; Angle determines time information; Angle reporting time information; Angle reporting response time requirements; An angle reporting method, the angle reporting method including: a first reporting method for reporting an angle estimation result of a first path, or a second reporting method for reporting an angle estimation result of a multipath; The number of angle measurements reported for each path; Information of the transmit / receive point TRP used for angle estimation.

25. The method according to any one of claims 3, 8, 9 and 20, wherein: The LCS of the ARP group meets at least one of the following conditions: The origin of the LCS of the ARP group is the location of any ARP included in the ARP group; The LCS of the ARP group uses a plane formed by any three ARPs included in the ARP group as one of the coordinate planes; The LCS of the ARP group uses the vertical direction of the plane formed by any three ARPs included in the ARP group as one of the coordinate axes.

26. A positioning method, the method comprising: The positioning device receives information of at least one antenna reference point ARP group from the user equipment, the user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user equipment; The positioning device acquires the location information of the ARP in the ARP group according to the information of the ARP group; The positioning device determines the location of the user equipment according to the location information of the ARP in the ARP group.

27. The method according to claim 26, wherein: The information of the ARP group includes at least one of an ARP group identification ID, an ARP ID within the ARP group, and relative position information of ARPs within the ARP group.

28. The method according to claim 26 or 27, further comprising: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

29. The method according to claim 28, wherein: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the location information of the ARP, including: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

30. The method of claim 28, wherein: The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the angle information of the ARP, including: The positioning device receives a first angle estimation result sent by the user equipment, where the first angle estimation result is an angle estimation result between the ARP and a transmission and reception point TRP in an LCS of an ARP group to which the ARP belongs; The positioning device obtains a second angle estimation result of the ARP, where the second angle estimation result is an angle estimation result between the ARP and the TRP in a global coordinate system; The positioning device determines the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP.

31. A positioning device, comprising: A transmission module is used to transmit a positioning signal on an ARP within at least one antenna reference point ARP group of a user device, wherein the user device corresponds to at least two ARP groups, each ARP group includes at least one ARP, and the positioning signals on the ARPs in different ARP groups respectively determine the position of the user device.

32. The apparatus of claim 31 , further comprising: The sending module is used to send the information of the ARP group to the positioning device, wherein the information of the ARP group includes at least one of the ARP group identification ID, the ARP ID in the ARP group, and the relative position information of the ARP in the ARP group.

33. The apparatus according to claim 31 or 32, further comprising: The determination module is used to determine the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

34. The device according to claim 33, wherein The determination module is specifically used for: The rotation angle information of the ARP group to which the ARP belongs is determined according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

35. The device according to claim 33, wherein The determination module is specifically used for: Determine the rotation angle information of the ARP group to which the ARP belongs according to the first angle estimation result and the second angle estimation result of the ARP; The first angle estimation result is an angle estimation result between the ARP and the transmitting and receiving point TRP in the LCS of the ARP group to which the ARP belongs, and the second angle estimation result is an angle estimation result between the ARP and the TRP in the global coordinate system.

36. The apparatus of claim 33, further comprising: The sending module is used to send the rotation angle information of the ARP group to which the ARP belongs to a positioning device.

37. The apparatus of claim 33, further comprising: The location estimation module is used to estimate the location of the ARP according to the positioning signal received on the ARP to obtain the location information of the ARP.

38. The apparatus of claim 33, further comprising: The angle estimation module is used to determine a first angle estimation result of the ARP according to the positioning signal received on the ARP.

39. The apparatus of claim 37, further comprising: The sending module is used to send the ARP location estimation result to the positioning device, where the ARP location estimation result includes the ARP location information and ARP ID.

40. The apparatus of claim 33, further comprising: The receiving module is used to receive first configuration information, where the first configuration information includes information used to determine and / or request rotation angle information of the ARP group to which the ARP belongs.

41. The apparatus according to claim 31 or 32, further comprising: An angle estimation module, used to determine a first angle estimation result between the ARP and the transmitting and receiving point TRP in the LCS of the ARP group to which the ARP belongs according to the positioning signal received on the ARP; A sending module is used to send the first angle estimation result to a positioning device, where the first angle estimation result is used to determine the rotation angle information of the ARP group to which the ARP belongs.

42. The apparatus according to claim 38 or 41, further comprising: The receiving module is used to receive second configuration information, where the second configuration information includes information used to determine and / or request the first angle estimation result.

43. A positioning device, the device comprising: A receiving module, configured to receive information of at least one antenna reference point ARP group sent by a user equipment, wherein the user equipment corresponds to at least two ARP groups, each ARP group includes at least one ARP, and positioning signals on ARPs in different ARP groups respectively determine the position of the user equipment; An acquisition module, used for acquiring the location information of the ARP in the ARP group according to the information of the ARP group; The first determining module is used to determine the location of the user equipment according to the location information of the ARP in the ARP group.

44. The device according to claim 43, wherein The information of the ARP group includes at least one of an ARP group identification ID, an ARP ID within the ARP group, and relative position information of ARPs within the ARP group.

45. The apparatus according to claim 43 or 44, further comprising: The second determining module is used to determine the rotation angle information of the ARP group to which the ARP belongs according to the position information or angle information of the ARP.

46. ​​The device according to claim 45, wherein The second determining module is specifically used for: The rotation angle information of the ARP group to which the ARP belongs is determined according to the position information of the ARP and the relative position information of the ARP in the LCS of the ARP group to which the ARP belongs.

47. The device according to claim 45, wherein The second determining module is specifically used for: receiving a first angle estimation result sent by the user equipment, where the first angle estimation result is an angle estimation result between the ARP and a transmitting and receiving point TRP in an LCS of an ARP group to which the ARP belongs; Obtain a second angle estimation result of the ARP, where the second angle estimation result is an angle estimation result between the ARP and the TRP in a global coordinate system; Determine the ARP angle according to the first angle estimation result and the second angle estimation result of the ARP. The rotation angle information of the ARP group to which it belongs.

48. A user device comprising: A processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to execute the method according to any one of claims 1 to 25.

49. A positioning device comprising: A processor and a memory, the memory being used to store a computer program, and the processor being used to call and run the computer program stored in the memory to execute the method according to any one of claims 26 to 30.

50. A computer-readable storage medium for storing a computer program, wherein the computer program causes a computer to execute the method according to any one of claims 1 to 25.

51. A computer-readable storage medium for storing a computer program, wherein the computer program causes a computer to execute the method according to any one of claims 26 to 30.

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